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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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This commit is contained in:
Olivier Dubois 2024-02-19 19:22:13 -05:00
commit 595065c250
36 changed files with 472 additions and 303 deletions
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63
src/main/deploy/pathplanner/autos/3.3.auto
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@ -1,63 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

29
src/main/deploy/pathplanner/autos/9.auto
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@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "1.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/7.auto → src/main/deploy/pathplanner/autos/B recule.auto
View File

0
src/main/deploy/pathplanner/autos/1.1.auto → src/main/deploy/pathplanner/autos/B.C.1.auto
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0
src/main/deploy/pathplanner/autos/1.2.auto → src/main/deploy/pathplanner/autos/B.C.2.auto
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29
src/main/deploy/pathplanner/autos/1.4.auto → src/main/deploy/pathplanner/autos/B.C.3.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "1.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

35
src/main/deploy/pathplanner/autos/1.3.auto → src/main/deploy/pathplanner/autos/B.C.4.auto
View File

@ -31,29 +31,42 @@
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "1.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "1.2"
}
}
]
}

29
src/main/deploy/pathplanner/autos/1.5.auto → src/main/deploy/pathplanner/autos/B.C.5.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "1.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "1.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/2.1.auto → src/main/deploy/pathplanner/autos/B.D.1.auto
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0
src/main/deploy/pathplanner/autos/2.2.auto → src/main/deploy/pathplanner/autos/B.D.2.auto
View File

29
src/main/deploy/pathplanner/autos/2.3.auto → src/main/deploy/pathplanner/autos/B.D.3.auto
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@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "2.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/2.4.auto → src/main/deploy/pathplanner/autos/B.D.4.auto
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@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "2.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/2.5.auto → src/main/deploy/pathplanner/autos/B.D.5.auto
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@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "2.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "2.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/3.1.auto → src/main/deploy/pathplanner/autos/B.H.1.auto
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0
src/main/deploy/pathplanner/autos/3.2.auto → src/main/deploy/pathplanner/autos/B.H.2.auto
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89
src/main/deploy/pathplanner/autos/B.H.3.auto Normal file
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@ -0,0 +1,89 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7,
"y": 6.7
},
"rotation": -120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
}
]
}
},
"folder": "3",
"choreoAuto": false
}

29
src/main/deploy/pathplanner/autos/3.4.auto → src/main/deploy/pathplanner/autos/B.H.4.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "3.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "lancer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/3.5.auto → src/main/deploy/pathplanner/autos/B.H.5.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "3.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "3.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "lancer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/8.auto → src/main/deploy/pathplanner/autos/R recule.auto
View File

0
src/main/deploy/pathplanner/autos/4.1.auto → src/main/deploy/pathplanner/autos/R.C.1.auto
View File

0
src/main/deploy/pathplanner/autos/4.2.auto → src/main/deploy/pathplanner/autos/R.C.2.auto
View File

29
src/main/deploy/pathplanner/autos/4.3.auto → src/main/deploy/pathplanner/autos/R.C.3.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "4.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/4.4.auto → src/main/deploy/pathplanner/autos/R.C.4.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "4.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/4.5.auto → src/main/deploy/pathplanner/autos/R.C.5.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "4.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "4.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/5.1.auto → src/main/deploy/pathplanner/autos/R.D.1.auto
View File

0
src/main/deploy/pathplanner/autos/5.2.auto → src/main/deploy/pathplanner/autos/R.D.2.auto
View File

70
src/main/deploy/pathplanner/autos/5.4.auto → src/main/deploy/pathplanner/autos/R.D.3.auto
View File

@ -15,58 +15,52 @@
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "lancer"
"name": "balyer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "balyer"
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "5.2"
}
}
]
}

64
src/main/deploy/pathplanner/autos/5.3.auto → src/main/deploy/pathplanner/autos/R.D.4.auto
View File

@ -15,16 +15,55 @@
"type": "deadline",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "lancer"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 3.0
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "lancer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]
@ -33,26 +72,7 @@
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
"pathName": "5.2"
}
}
]

29
src/main/deploy/pathplanner/autos/5.5.auto → src/main/deploy/pathplanner/autos/R.D.5.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "5.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "5.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

0
src/main/deploy/pathplanner/autos/6.1.auto → src/main/deploy/pathplanner/autos/R.H.1.auto
View File

0
src/main/deploy/pathplanner/autos/6.2.auto → src/main/deploy/pathplanner/autos/R.H.2.auto
View File

29
src/main/deploy/pathplanner/autos/6.3.auto → src/main/deploy/pathplanner/autos/R.H.3.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "6.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/6.4.auto → src/main/deploy/pathplanner/autos/R.H.4.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "6.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

29
src/main/deploy/pathplanner/autos/6.5.auto → src/main/deploy/pathplanner/autos/R.H.5.auto
View File

@ -31,25 +31,32 @@
}
},
{
"type": "path",
"data": {
"pathName": "6.1"
}
},
{
"type": "deadline",
"type": "parallel",
"data": {
"commands": [
{
"type": "wait",
"type": "path",
"data": {
"waitTime": 3.0
"pathName": "6.1"
}
},
{
"type": "named",
"type": "deadline",
"data": {
"name": "balyer"
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "balyer"
}
}
]
}
}
]

4
src/main/deploy/pathplanner/paths/1.1.path
View File

@ -8,7 +8,7 @@
},
"prevControl": null,
"nextControl": {
"x": 1.2733425960299216,
"x": 1.3266574039700785,
"y": 5.55
},
"isLocked": false,
@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -179.1243356864854,
"rotation": -179.69010821508004,
"rotateFast": false
},
"reversed": false,

15
src/main/java/frc/robot/subsystem/Lanceur.java
View File

@ -32,8 +32,19 @@ public class Lanceur extends SubsystemBase {
final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
public void pid(){
lanceur1.getPIDController();
public void pidspeaker(){
lanceur1.getPIDController().setP(0.5);
lanceur1.getPIDController().setI(0.5);
lanceur1.getPIDController().setD(0.5);
lanceur2.getPIDController().setP(0.5);
lanceur2.getPIDController().setI(0.5);
lanceur2.getPIDController().setD(0.5);
lanceur3.getPIDController().setP(0.5);
lanceur3.getPIDController().setI(0.5);
lanceur3.getPIDController().setD(0.5);
lanceur4.getPIDController().setP(0.5);
lanceur4.getPIDController().setI(0.5);
lanceur4.getPIDController().setD(0.5);
}
public void lancer(double vitesse){
lanceur1.set(-vitesse);